Motion Planning of Cooperative Nonholonomic Mobile Manipulators

Abstract : We deal with the cooperation problem of two nonholomic mobile manipulators. We propose a leader-follower architecture for implementing robot coordination and a control algorithm for motion planning and force control. The Deformable Virtual Zone (DVZ) method is proposed to resolve the problem through the reflex action theory. The formulation of the DVZ principle is given and an extension to the mobile manipulator tasks is detailed.
Type de document :
Communication dans un congrès
SMC: Systems, Man and Cybernetics, Oct 2002, Hammamet, Tunisia. IEEE International Conference on Systems, Man and Cybernetics, 6, 2002, 〈10.1109/ICSMC.2002.1175608〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00268670
Contributeur : Christine Carvalho de Matos <>
Soumis le : mardi 1 avril 2008 - 09:28:48
Dernière modification le : mardi 17 juillet 2018 - 13:22:37

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Jérôme Albaric, René Zapata. Motion Planning of Cooperative Nonholonomic Mobile Manipulators. SMC: Systems, Man and Cybernetics, Oct 2002, Hammamet, Tunisia. IEEE International Conference on Systems, Man and Cybernetics, 6, 2002, 〈10.1109/ICSMC.2002.1175608〉. 〈lirmm-00268670〉

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